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|
use super::{FixedPositionConstraint, FixedPositionGroundConstraint};
use crate::dynamics::{
FixedJoint, IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition,
};
use crate::math::{Isometry, Real, SIMD_WIDTH};
// TODO: this does not uses SIMD optimizations yet.
#[derive(Debug)]
pub(crate) struct WFixedPositionConstraint {
constraints: [FixedPositionConstraint; SIMD_WIDTH],
}
impl WFixedPositionConstraint {
pub fn from_params(
rbs1: (
[&RigidBodyMassProps; SIMD_WIDTH],
[&RigidBodyIds; SIMD_WIDTH],
),
rbs2: (
[&RigidBodyMassProps; SIMD_WIDTH],
[&RigidBodyIds; SIMD_WIDTH],
),
cparams: [&FixedJoint; SIMD_WIDTH],
) -> Self {
Self {
constraints: gather![|ii| FixedPositionConstraint::from_params(
(rbs1.0[ii], rbs1.1[ii]),
(rbs2.0[ii], rbs2.1[ii]),
cparams[ii]
)],
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
for constraint in &self.constraints {
constraint.solve(params, positions);
}
}
}
#[derive(Debug)]
pub(crate) struct WFixedPositionGroundConstraint {
constraints: [FixedPositionGroundConstraint; SIMD_WIDTH],
}
impl WFixedPositionGroundConstraint {
pub fn from_params(
rbs1: [&RigidBodyPosition; SIMD_WIDTH],
rbs2: (
[&RigidBodyMassProps; SIMD_WIDTH],
[&RigidBodyIds; SIMD_WIDTH],
),
cparams: [&FixedJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
Self {
constraints: gather![|ii| FixedPositionGroundConstraint::from_params(
rbs1[ii],
(rbs2.0[ii], rbs2.1[ii]),
cparams[ii],
flipped[ii]
)],
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
for constraint in &self.constraints {
constraint.solve(params, positions);
}
}
}
|
